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Add external alignment of submaps #22

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Add external alignment of submaps #22

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a1fd062
Add external alignment of submaps
Jaeyoung-Lim Sep 26, 2023
72bb070
Workaround: deal with no data value from raterized shapefiles
Jaeyoung-Lim Sep 26, 2023
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12 changes: 10 additions & 2 deletions src/grid_map_geo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -129,8 +129,9 @@ bool GridMapGeo::initializeFromGeotiff(const std::string &path, bool align_terra
// TODO: This may be wrong if the pixelSizeY > 0
int x = width - 1 - gridMapIndex(0);
int y = gridMapIndex(1);

layer_elevation(x, y) = data[gridMapIndex(0) + width * gridMapIndex(1)];
double elevation = data[gridMapIndex(0) + width * gridMapIndex(1)];
if (elevation == 0.0) layer_elevation(x, y)= NAN;
else layer_elevation(x, y) = data[gridMapIndex(0) + width * gridMapIndex(1)];
}

/// TODO: This is a workaround with the problem of gdal 3 not translating altitude correctly.
Expand Down Expand Up @@ -325,6 +326,13 @@ bool GridMapGeo::AddLayerOffset(const double offset_distance, const std::string
}

void GridMapGeo::setGlobalOrigin(ESPG src_coord, const Eigen::Vector3d origin) {
auto original_espg = maporigin_.espg;
auto original_position = maporigin_.position;

Eigen::Vector3d map_position = original_position - origin;
// map_position(1) = -map_position(1);
grid_map_.setPosition(map_position.head(2));

// Transform global origin into CH1903 / LV03 coordinates
maporigin_.espg = src_coord;
maporigin_.position = origin;
Expand Down